“…respectively, and we compared Controller #7 to Controllers #1, #2, and #3. From Figure 20 (Karalus & Riese, 2009;Huddleston & Brown, 2009). For example, if we replace the constant decay parameter λ in p x ,y (t) = γ x,y e −λ(t−tx,y) with the non-homogeneous, decay parameter, λ px,y = λ(1 + ξ(f (threat x ,y )), where (a) ξ = 1 if the threat surface is active and 0 otherwise and (b) f (threat x,y ) ∈ [0, 1]; monotonically increasing, then we can add an appropriate threat premium to cells based on their underlying threat.…”